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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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`RTC_SW` documentation #54

Open kirillmorozov opened 2 years ago

kirillmorozov commented 2 years ago

I've noticed that ROS driver uses RTC_SW AS instruction:

https://github.com/Kawasaki-Robotics/khi_robot/blob/9ad30944eec05fdd6bb655d0ce43086a3515dba0/khi_robot_control/src/khi_robot_krnx_driver.cpp#L861

But I cannot find any mention of it in AS Language Reference Manual.

Is it a documented feature and if so where can I get more info about it?

MasaoAramoto commented 2 years ago

The instruction is not written in the AS Language Reference Manual. So I describe the specification here. Format : RTC_SW : <ON/OFF> This program instruction set the RTC_SW switch status. When RTC_SW is ON, the complement data from external will be added to the AS position command value.